# Gait Params for Low Crawl
# 低头匍匐前进步态参数
# 每个step代表一个参数块，对应Gait_Def中的每个section
# FR(前右)，FL(前左)，RR(后右)，RL(后左)

# 第一步：四足着地稳定期
[[step]]
body_pos_des = [0.0, 0.25, 0.0, 0.0, 0.0, -0.05] # roll、pitch、yaw、x、y、z - 身体降低，头部稍微下垂
body_vel_des = [0.08, 0.0, 0.0] # x,y,yaw - 缓慢前进
type = "usergait"
duration = 400
gait_id = 110
landing_gain = 2.0 # 增加落地增益以适应低姿态
landing_pos_des = [
  0.01,  # FR x偏置
  0.00,  # FR y偏置
  0.0,   # FR z偏置
  0.01,  # FL x偏置
  0.00,  # FL y偏置
  0.0,   # FL z偏置
  0.01,  # RR x偏置
  0.00,  # RR y偏置
  0.0,   # RR z偏置
  0.01,  # RL x偏置
  0.00,  # RL y偏置
  0.0,   # RL z偏置
]
mu = 0.25 # 增加摩擦系数
step_height = [0.0, 0.0, 0.0, 0.0] # 四足着地，无抬起
use_mpc_traj = 1
weight = [30.0, 35.0, 40.0, 15.0, 15.0, 60.0] # 增加稳定性权重

# 第二步：前左腿抬起
[[step]]
body_pos_des = [0.0, 0.25, 0.0, 0.0, 0.0, -0.05]
body_vel_des = [0.08, 0.0, 0.0]
type = "usergait"
duration = 300
gait_id = 110
landing_gain = 2.0
landing_pos_des = [
  0.02,  # FR x向前
  0.00,
  0.0,
  0.04,  # FL x向前更多（准备落地）
  0.00,
  0.0,
  0.01,  # RR保持
  0.00,
  0.0,
  0.01,  # RL保持
  0.00,
  0.0,
]
mu = 0.25
step_height = [0.0, 0.06, 0.0, 0.0] # FL抬起6cm
use_mpc_traj = 1
weight = [30.0, 35.0, 40.0, 15.0, 15.0, 60.0]

# 第三步：前左腿落下
[[step]]
body_pos_des = [0.0, 0.25, 0.0, 0.0, 0.0, -0.05]
body_vel_des = [0.08, 0.0, 0.0]
type = "usergait"
duration = 400
gait_id = 110
landing_gain = 2.0
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.01,
  0.00,
  0.0,
  0.01,
  0.00,
  0.0,
]
mu = 0.25
step_height = [0.0, 0.0, 0.0, 0.0]
use_mpc_traj = 1
weight = [30.0, 35.0, 40.0, 15.0, 15.0, 60.0]

# 第四步：后右腿抬起
[[step]]
body_pos_des = [0.0, 0.25, 0.0, 0.0, 0.0, -0.05]
body_vel_des = [0.08, 0.0, 0.0]
type = "usergait"
duration = 300
gait_id = 110
landing_gain = 2.0
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.04,  # RR向前
  0.00,
  0.0,
  0.01,
  0.00,
  0.0,
]
mu = 0.25
step_height = [0.0, 0.0, 0.06, 0.0] # RR抬起
use_mpc_traj = 1
weight = [30.0, 35.0, 40.0, 15.0, 15.0, 60.0]

# 第五步：四足着地稳定期
[[step]]
body_pos_des = [0.0, 0.25, 0.0, 0.0, 0.0, -0.05]
body_vel_des = [0.08, 0.0, 0.0]
type = "usergait"
duration = 400
gait_id = 110
landing_gain = 2.0
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.01,
  0.00,
  0.0,
]
mu = 0.25
step_height = [0.0, 0.0, 0.0, 0.0]
use_mpc_traj = 1
weight = [30.0, 35.0, 40.0, 15.0, 15.0, 60.0]

# 第六步：前右腿抬起
[[step]]
body_pos_des = [0.0, 0.25, 0.0, 0.0, 0.0, -0.05]
body_vel_des = [0.08, 0.0, 0.0]
type = "usergait"
duration = 300
gait_id = 110
landing_gain = 2.0
landing_pos_des = [
  0.04,  # FR向前
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.01,
  0.00,
  0.0,
]
mu = 0.25
step_height = [0.06, 0.0, 0.0, 0.0] # FR抬起
use_mpc_traj = 1
weight = [30.0, 35.0, 40.0, 15.0, 15.0, 60.0]

# 第七步：前右腿落下
[[step]]
body_pos_des = [0.0, 0.25, 0.0, 0.0, 0.0, -0.05]
body_vel_des = [0.08, 0.0, 0.0]
type = "usergait"
duration = 400
gait_id = 110
landing_gain = 2.0
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.01,
  0.00,
  0.0,
]
mu = 0.25
step_height = [0.0, 0.0, 0.0, 0.0]
use_mpc_traj = 1
weight = [30.0, 35.0, 40.0, 15.0, 15.0, 60.0]

# 第八步：后左腿抬起
[[step]]
body_pos_des = [0.0, 0.25, 0.0, 0.0, 0.0, -0.05]
body_vel_des = [0.08, 0.0, 0.0]
type = "usergait"
duration = 300
gait_id = 110
landing_gain = 2.0
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.04,  # RL向前
  0.00,
  0.0,
]
mu = 0.25
step_height = [0.0, 0.0, 0.0, 0.06] # RL抬起
use_mpc_traj = 1
weight = [30.0, 35.0, 40.0, 15.0, 15.0, 60.0]

# 第九步：四足着地稳定期 (循环开始)
[[step]]
body_pos_des = [0.0, 0.25, 0.0, 0.0, 0.0, -0.05]
body_vel_des = [0.08, 0.0, 0.0]
type = "usergait"
duration = 400
gait_id = 110
landing_gain = 2.0
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.25
step_height = [0.0, 0.0, 0.0, 0.0]
use_mpc_traj = 1
weight = [30.0, 35.0, 40.0, 15.0, 15.0, 60.0]

# 第十步：前左腿抬起
[[step]]
body_pos_des = [0.0, 0.25, 0.0, 0.0, 0.0, -0.05]
body_vel_des = [0.08, 0.0, 0.0]
type = "usergait"
duration = 300
gait_id = 110
landing_gain = 2.0
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.04,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.25
step_height = [0.0, 0.06, 0.0, 0.0]
use_mpc_traj = 1
weight = [30.0, 35.0, 40.0, 15.0, 15.0, 60.0]

# 第十一步：前左腿落下
[[step]]
body_pos_des = [0.0, 0.25, 0.0, 0.0, 0.0, -0.05]
body_vel_des = [0.08, 0.0, 0.0]
type = "usergait"
duration = 400
gait_id = 110
landing_gain = 2.0
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.25
step_height = [0.0, 0.0, 0.0, 0.0]
use_mpc_traj = 1
weight = [30.0, 35.0, 40.0, 15.0, 15.0, 60.0]

# 第十二步：后右腿抬起
[[step]]
body_pos_des = [0.0, 0.25, 0.0, 0.0, 0.0, -0.05]
body_vel_des = [0.08, 0.0, 0.0]
type = "usergait"
duration = 300
gait_id = 110
landing_gain = 2.0
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.04,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.25
step_height = [0.0, 0.0, 0.06, 0.0]
use_mpc_traj = 1
weight = [30.0, 35.0, 40.0, 15.0, 15.0, 60.0]

# 第十三步：四足着地稳定期
[[step]]
body_pos_des = [0.0, 0.25, 0.0, 0.0, 0.0, -0.05]
body_vel_des = [0.08, 0.0, 0.0]
type = "usergait"
duration = 400
gait_id = 110
landing_gain = 2.0
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.25
step_height = [0.0, 0.0, 0.0, 0.0]
use_mpc_traj = 1
weight = [30.0, 35.0, 40.0, 15.0, 15.0, 60.0]

# 第十四步：前右腿抬起
[[step]]
body_pos_des = [0.0, 0.25, 0.0, 0.0, 0.0, -0.05]
body_vel_des = [0.08, 0.0, 0.0]
type = "usergait"
duration = 300
gait_id = 110
landing_gain = 2.0
landing_pos_des = [
  0.04,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.25
step_height = [0.06, 0.0, 0.0, 0.0]
use_mpc_traj = 1
weight = [30.0, 35.0, 40.0, 15.0, 15.0, 60.0]

# 第十五步：前右腿落下
[[step]]
body_pos_des = [0.0, 0.25, 0.0, 0.0, 0.0, -0.05]
body_vel_des = [0.08, 0.0, 0.0]
type = "usergait"
duration = 400
gait_id = 110
landing_gain = 2.0
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.25
step_height = [0.0, 0.0, 0.0, 0.0]
use_mpc_traj = 1
weight = [30.0, 35.0, 40.0, 15.0, 15.0, 60.0]

# 第十六步：后左腿抬起
[[step]]
body_pos_des = [0.0, 0.25, 0.0, 0.0, 0.0, -0.05]
body_vel_des = [0.08, 0.0, 0.0]
type = "usergait"
duration = 300
gait_id = 110
landing_gain = 2.0
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.04,
  0.00,
  0.0,
]
mu = 0.25
step_height = [0.0, 0.0, 0.0, 0.06]
use_mpc_traj = 1
weight = [30.0, 35.0, 40.0, 15.0, 15.0, 60.0]

# 最终稳定期
[[step]]
body_pos_des = [0.0, 0.25, 0.0, 0.0, 0.0, -0.05]
body_vel_des = [0.0, 0.0, 0.0] # 停止前进
type = "usergait"
duration = 500
gait_id = 110
landing_gain = 2.0
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.25
step_height = [0.0, 0.0, 0.0, 0.0]
use_mpc_traj = 1
weight = [30.0, 35.0, 40.0, 15.0, 15.0, 60.0]